EP2786948B1 - Magasin avec un transporteur doté de navettes contrôllées magnétiquement - Google Patents

Magasin avec un transporteur doté de navettes contrôllées magnétiquement Download PDF

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Publication number
EP2786948B1
EP2786948B1 EP13162282.1A EP13162282A EP2786948B1 EP 2786948 B1 EP2786948 B1 EP 2786948B1 EP 13162282 A EP13162282 A EP 13162282A EP 2786948 B1 EP2786948 B1 EP 2786948B1
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EP
European Patent Office
Prior art keywords
transport
products
shuttles
storage
transport system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP13162282.1A
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German (de)
English (en)
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EP2786948A1 (fr
Inventor
Roman Schnabl
Roland Koholka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Knapp AG
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Knapp AG
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Publication date
Application filed by Knapp AG filed Critical Knapp AG
Priority to EP13162282.1A priority Critical patent/EP2786948B1/fr
Priority to ES13162282.1T priority patent/ES2627924T3/es
Priority to US14/780,858 priority patent/US10035652B2/en
Priority to PCT/EP2014/053822 priority patent/WO2014161695A1/fr
Publication of EP2786948A1 publication Critical patent/EP2786948A1/fr
Application granted granted Critical
Publication of EP2786948B1 publication Critical patent/EP2786948B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars

Definitions

  • the invention relates to a storage system with shelves for storing products and with a first transfer device for transferring products to be moved into the shelves anddesignlagernden products from a transport system to a shelf transport system and with a second transfer device for transferring transported with the transport system outsourced products or for takeover of products to be transported with the transport system.
  • the document EP 1 224 038 B1 discloses such a storage system with a transport system for transporting and sorting outsourced products from the warehouse and products to be stored in the warehouse.
  • the transport system has a circular conveyor, which forms a main loop and on which the products are transported by means of a continuous member or a conveyor belt.
  • Products outsourced from the shelves of the storage system are fed to the circular conveyor via one of two feed conveyors which form secondary loops and whose product streams are combined via a common diverter.
  • the speeds of the feed conveyors and of the circular conveyor must be constantly changed. Through different transport speeds of the three conveyor belts gaps are created between products and by bringing together on the circular conveyor and discharge on Zielfactb screws the products are brought into the order required for picking.
  • the known storage system has proved to be a disadvantage that the constant change in the speed of the three conveyor belts, on which all outsourced from the warehouse products and products to be stored in the warehouse leads to high energy costs of the transport system, as slowed down masses and again have to be accelerated.
  • sudden deceleration or acceleration may result in slipping or falling of products on the conveyor belt or even dropping of products from the conveyor belt.
  • the transport system of the known storage system can slow down and accelerate only relatively slowly. hereby It takes longer to create gaps on the conveyor belts, whereby the transport performance and sorter performance of the known transport system is relatively low.
  • the invention has for its object to provide a storage system in which the above disadvantages are avoided. According to the invention this task is solved in that the transport system with respect to the transport direction and transport speed has individually controllable rail-bound shuttles, which are formed on rails of at least one main loop for transporting the outsourced products and products to be stored between the first transfer device and the second transfer device.
  • a product retrieved from a storage location of a shelf by means of the rack transport system is thus transferred to the second transfer device to the transport system, which is formed of non-powered and individually movable shuttles that run on rails.
  • Each shuttle can have its own autonomous drive. However, it is particularly advantageous to drive the shuttles controlled by a control device of the storage system by means of a linear motor provided in the rails.
  • each shuttle is driven independently of other shuttles in the transport system with respect to its transport speed and transport direction individually.
  • This allows a simple and efficient control of the individual shuttles to either produce a desired order of certain products on the transport system for the subsequent picking of the products or to transport certain products to specific transfer devices in secondary loops.
  • the fact that only individual shuttles are slowed down or accelerated, the transport system has significantly lower energy costs than the known transport system.
  • the control device during acceleration and braking of shuttles on the nature and stability of the products on the respective Shuttle take into account why falling or falling of the products is avoided by the transport system.
  • the main loop of the transport system now has at least one secondary loop, which can be used as a passing loop overtaking shuttles or as a buffer space for parking shuttles.
  • branches are provided in the main loop, which allow a shortening of the transport path.
  • Relocating shuttle loading and unloading on secondary loops also has the advantage that the shuttles can be loaded and unloaded at lower shuttle speeds without reducing overall system throughput. Since with such an arrangement only shuttles with products which have to be unloaded in this secondary loop arrive at the transfer device for unloading, this can be designed in a particularly simple manner.
  • FIG. 1 shows a storage system 1 with shelves 2 for storing products.
  • the shelves 2 have multiple levels and each level a plurality of storage bins are provided, in which products are stored in boxes 3.
  • a superordinate control device 4 manages the products in the storage system 1 and controls all devices described below to store products in the storage system 1 and to transport products stored in the storage system 1 to goods-to-order picking stations 5.1 to 5.6. At these goods-to-order picking stations 5.1 to 5.6, order pickers remove the number of products specified for a picking order and place them in a order container.
  • Products delivered to the storage system 1 and to be stored in the storage system 1 are fed to the storage system 1 via a conveyor technology arm 8.14 and a transfer device 6.14 and via the transfer devices 6.2, 6.4, 6.6, 6.8, 6.10, 6.12 and the conveyor technology arms 8.2, 8.4, 8.6, 8.8 , 8.10, 8.12, the storage system 1 supplied.
  • Outsourced products to be removed by other means are delivered by the transport system 7 via a transfer device 6.13 to a conveyor technology arm 8.13.
  • the main travel direction in the main loop 12 is counterclockwise, whereby the respectively associated ones Transfer devices and conveyor arms for storage and retrieval from the shelves 2 result.
  • the main direction of travel in the main loop 12 could also be fixed in the clockwise direction, whereby the respective associated transfer devices and conveyor arms for storage and retrieval from the shelves 2 would be set differently. It is particularly advantageous that individual shuttles 10 can be transported at any time, if necessary, as a ghost driver against the main direction of travel over the skin loop 12.
  • conveyor arms 8.1 and 8.2 are provided on each shelf aisle each shelf 2 and have rollers 9 to transport the outsourced boxes 3 with the products to the transfer devices 6.1 and 6.2 or to take over from there.
  • the transfer devices 6.1 to 6.12 are formed by ramps with which the boxes 3 are loaded by the conveyor technology arms 8.1 to 8.12 on shuttles 10, which will be discussed in more detail below.
  • the transfer devices 6.1 to 6.12 in this case also form receiving devices for picking up products on the transport system 7 and dispensing devices for dispensing products from the transport system 7.
  • the transport system 7 now has with respect to the transport direction and transport speed individually controllable rail-bound shuttles 10, the rails 11 at least one main loop 12 for transporting the outsourced products and reliabllagernden products between the transfer devices 6.1 to 6.14 and other transfer devices 20.1-20.12 and 8.13 and 8.14 is trained.
  • the transport system 7 has for driving the shuttles 10 to a direct magnetic drive, which is formed of a plurality of arranged on the rails 11 individually controllable linear motors 13.1 to 13.4, as in FIG. 4 is shown in more detail by way of example.
  • the individual linear motors 13.1 to 13.4 are controlled in a timely manner by the control device 4 and thereby form a linearly controllable for the control device 4 linear motor 14 for driving the individual shuttles 10 with respect to the transport path, the transport speed and the transport direction.
  • FIG. 4 is the parent control of the arranged between the rails 11 linear motors 13.1 to 13.4 symbolically represented by the control device 4, wherein the linear motors 13.1 to 13.4, for example, have a length of 0.5 meters.
  • Each of the linear motors 13.1 to 13.4 has a plurality of electromagnets arranged in the longitudinal direction, to which a motor control 15.1 to 15.4 is assigned, which are supplied with energy by a power supply unit 16 and are controlled by the control device 4.
  • the shuttles have 10, as in FIG. 6 visible, permanent magnets 17 and are driven by the magnetic field generated by the electromagnet.
  • a hardware layer of the software of the control device 4 controls the individual linear motors 13.1 to 13.4 in the temporal and local sequence required for this purpose.
  • An organizationally lying transport layer of the software of the control device 4 can thus control the linear motor 14 of the transport system 7 as a unitary linear motor 14 for driving and braking the individual individual shuttles 10.
  • the control device 4 can set the optimal transport path for each shuttle 10.
  • the shuttle 10 can be guided in secondary loops, such as the passing loop 17, and overtaken by other shuttles 10 in order to transport the outsourced products in the desired order to the intended goods-to-order picking station 5.1 to 5.6.
  • a caching on a buffer spaces having branch line 18 is advantageous to transport outsourced products after picking at, for example, the goods-to-picker picking 5.2 little later for another Mikssioniercited to the goods-to-order picker 5.5 without the product in the meantime have to store again in the shelf 2.
  • the branch line can also be used to park unused shuttles 10 or broken shuttles 10.
  • the Transfer devices 20.1 to 20.12 are also formed by ramps to load the outsourced products placed in the desired order from the shuttles 10 to a transferring conveyor 21.1 to 21.12, from which the outsourced products to the goods-to-order picking stations 5.1 to 5.6 transported and returned from these to the transport system 7.
  • the dispensing conveyor 21.1 to 21.12 also has rollers 9, as in the conveyor technology arms 8.1 and 8.2 in FIG. 2 are shown.
  • the transport system 7 it has proven to be advantageous for the transport system 7 to provide the linear motor 14 as a drive.
  • the conveying technology arms 8.1 to 8.12 it has proven to be advantageous to use conventional conveyor technology, since the necessary buffer spaces for the decoupling of the shelf transport device and the shuttles 10 can be realized in a more space-efficient and cost-effective manner.
  • the donor and receiving conveyor technology 21.1 to 21.12 it has proven to be advantageous to use conventional conveyor technology, since it is possible on this, the boxes 3 to rotate with respect to the transport direction. This makes it possible to make the order picking 5.1 to 5.6 in an ergonomically optimal shape.
  • transfer ramps are provided in this embodiment, as these in the Figures 2 and 3 are shown.
  • the secondary loop 22 can be seen to have two ramps in order to transport the shuttle 10, which is empty after the delivery of the boxes 3 at the one ramp, to the other ramp in order to load other boxes 3 onto the empty shuttles 10 there again.
  • transport routes of empty shuttles 10 can be kept particularly short, which is advantageous for relieving the transport system 7. Consequently, at least one receiving / dispensing device or transfer device and, if possible, both a receiving device and a dispensing device or two transfer devices are also to be provided in each secondary loop. As a result, the transport routes with empty shuttles 10 can be kept particularly short.
  • the ramps are designed so immovable and have only one driven conveyor belt per Rampenarm 23 that a shuttle 10 for loading with outsourced products containing boxes 3 can drive under the immovable ramp.
  • the shuttle 10 moves under ramp arms 23, over which the boxes 3 when loading the shuttles 10 is promoted down.
  • the ramp arms 23 and thus the entire ramp can be performed without sliding parts, which is particularly advantageous in terms of reliability and service life of the ramp.
  • the single ramp can be used in both transport directions and thus for transfer from the transport system 7 and for transfer to the transport system 7.
  • the ramps have a pitch for delivering products from shuttles 10 of the transport system 7 to the conventional conveyor technique and the ramps have a pitch for receiving products from conventional conveyor technology on shuttles 10 of the transport system 7.
  • the control device 4 for transporting the shuttles 10 for discharging the transported products from the shuttles 10 is formed at a greater speed than the transport belts of the ramp arms 23.
  • the boxes 3 are advantageously pushed reliably and without rotation on the ramp arms 23.
  • this speed difference is mapped in reverse, which advantageously results in a safe loading of the shuttles 10 without twisting the products.
  • FIG. 6 shows a shuttle of the transport system 7 according to FIG. 1 in an oblique view from below.
  • the arranged in the middle of the shuttle 10 permanent magnets 17 are mounted on two turntables 25, each having main rollers 26 for discharging the load on the rails 11 and guide rollers 27 for guiding the shuttle 10 along the lines and curves and the branching means or switches 28.
  • By attaching the permanent magnets 17 to the rotatable turntables 25 results in a particularly good coverage of the permanent magnets 17 with the linear motors 13.1 to 13.4, when the shuttle 10 by a in FIG. 5 shown curved rail 29 moves.
  • the shuttles 10 are driven reliably and evenly on curved rails 29 and turnouts 28.
  • the shuttles 10 are constructed symmetrically with respect to their two possible transport directions, they can be used equally well for transport in both directions of transport become.
  • the shuttles 10 can thus be controlled by the control device 4 at any time reverse their direction of transport and thus drive as a ghost driver against the skin transport direction on the skin loop 12 or one of the secondary loops. This flexibility enables particularly short transport routes.
  • FIGS. 8 and 9 a shuttle 10 is shown on the switch 28 when driving straight ahead and when cornering.
  • the control device controls steering means 29 and 30 of the switch 28.
  • the steering means 29 are lowered and the steering means 30 is raised, reversed for cornering.
  • the respective raised steering means 29 or 30 come into engagement with the guide rollers 27 and thus direct the shuttle 10 in the desired direction.
  • the switches steering means could also move laterally to redirect shuttles for driving straight or cornering.
  • FIG. 7 shows another type of a shuttle 31 for a transport system with a box 3 are included in the products.
  • This shuttle 31 has no retaining lugs and another type of rotatable rail guide. According to the invention, further different embodiments of shuttles can be realized.
  • the transport system 7 according to FIG. 1 has along the rails 11 in the figures not shown position sensors, which are formed by Hall sensors whose sensor information from the control device 4 to determine the current position of each shuttle 10 are evaluated.
  • the position sensors are arranged parallel to the motor windings of the linear motors 13. 1 to 13. 4 and detect the individual shuttle 10. This advantageously ensures that the control device 4 always knows exactly where each shuttle 10 is located on the transport system 7. Based on this position information, the motor controls 15 to 15.4 located on the transport path can be timely controlled.
  • the control device 4 is further designed to allocate a circulating transport window for each shuttle 10, wherein the shuttle 10 can be braked and accelerated within the transport window by the control device 4.
  • the shuttle 10 can be braked by the controller 4 to receive products on the shuttle 10 or to transport the shuttle 10 through a curve of the main loop 10 or switch 28.
  • acceleration may be accelerated to allow the shuttle 10 to travel slowly for a longer time in preparation for a loading or unloading operation, or to allow for greater differences between the transport and loading speeds.
  • control device 4 is further formed for switching off a Steckenabêtes of the transport system 7, when a shuttle 10, an error or need for maintenance occurs. Furthermore, the control device 4 can always reject faulty shuttles 10 in secondary loops if this is necessary. As a result, it is advantageously achieved that in case of incidents or maintenance cases, the normal operation of the transport system 7 can be continued substantially without obstruction.
  • transfer devices or dispensing and receiving devices can also be formed by the lift in one of the shelves of the storage system or by other usual in the field of storage and Kommissioniersytemen elements.
  • each shuttle can have its own autonomous drive.
  • the drive may be formed by an electric motor, which is fed by an accumulator, wherein a control device of the shuttle would detect a low state of charge of the accumulator and would timely control the shuttle to a charging station.
  • the power supply can also be carried out with bus bars and sliding contacts arranged along the rails on the shuttle.
  • the products are to be understood as any type of conveyed goods, such as containers or cartons.
  • a rail-bound shuttles is further any kind of mechanically or electromechanically moving or transported shuttles to understand that no own controlled steering device for Have preset the transport route.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (11)

  1. Système de stockage (1) comprenant des rayonnages (2) destinés à stocker des produits et comprenant un premier dispositif de transfert (6.1 à 6.12) destiné à transférer des produits à mettre en stock dans les rayonnages (2) et à sortir du stock d'un système de transport (7) sur un système de transport à rayonnages et comprenant un deuxième dispositif de transfert (20.1 à 20.12) destiné à transférer des produits sortis du stock transportés au moyen du système de transport (7) ou à recevoir des produits à mettre en stock et destinés à être transportés au moyen du système de transport (7), caractérisé en ce que
    le système de transport (7), en ce qui concerne le sens de transport et la vitesse de transport, présente des navettes (10) guidées sur rails et pouvant être commandées individuellement, qui sont conçues, par l'intermédiaire de rails (11) d'au moins une boucle principale (12), pour transporter les produits sortis du stock et les produits à mettre en stock entre le premier dispositif de transfert (6.1 à 6.14) et le deuxième dispositif de transfert (20.1 à 20.12).
  2. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un système de commande (4) est prévu, qui commande individuellement chaque navette (10) individuelle du système de transport (7) en ce qui concerne le trajet de transport, la vitesse de transport et le sens de transport, pour produire un ordre souhaité de produits sortis du stock et/ou pour transporter les produits sortis du stock vers le dispositif de transfert (6.1 à 6.14 ; 20.1 à 20.12) souhaité.
  3. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que des bifurcations (19), qui permettent de raccourcir le trajet de transport de la boucle principale (12), sont prévues dans la boucle principale (12).
  4. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que le système de transport (7) comprend au moins une boucle de dépassement (17) sur la boucle principale (12) et est conçu pour produire l'ordre souhaité pour le transport de navettes (10) individuelles à une vitesse de transport différente et/ou dans un sens de transport différent.
  5. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que le système de transport (7) comprend au moins un espace tampon (18), dans lequel les navettes (10) sont stockées temporairement et peuvent être dépassées par d'autres navettes (10), afin de produire l'ordre souhaité.
  6. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins un espace de préparation de commande de marchandises amenées au préparateur de commande (5.1 à 5.6), et destiné à la préparation de commande des produits sortis du stock et amenés dans l'ordre souhaité dans un bac de commande est prévu, et en ce que les produits amenés dans l'ordre souhaité sont transférés du système de transport (7) sur le deuxième dispositif de transfert (20.1 à 20.2) à la manutention de distribution (21.1 à 21.12) pour être transportés à au moins un espace de préparation de commande de marchandises amenées au préparateur de commande (5.1 à 5.6).
  7. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que le système de transport (7) est conçu pour transporter les navettes (10) comme des véhicules roulant à contresens à l'encontre du sens de transport principal sur un rail (11) du système de transport (7) .
  8. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que les navettes (10) ne sont pas motorisées, et en ce que le système de transport (7) est conçu pour l'entraînement magnétique des navettes (10) au moyen d'un entraînement linéaire.
  9. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que les dispositifs de transfert (6.1 à 6.14 ; 20.1 à 20.12) sont agencés dans des boucles secondaires.
  10. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un ou plusieurs dispositifs de transfert (6.1 à 6.14 ; 20.1 à 20.12) destinés au transfert et à la réception de produits sont prévus dans au moins une boucle secondaire, afin de réduire au minimum les trajets de transport de navettes (10) vides.
  11. Système de stockage (1) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un dispositif de transfert (6.1 à 6.12) menant au système de transport (7) est prévu pour chaque allée de rayonnage du système de stockage (1) .
EP13162282.1A 2013-04-04 2013-04-04 Magasin avec un transporteur doté de navettes contrôllées magnétiquement Active EP2786948B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP13162282.1A EP2786948B1 (fr) 2013-04-04 2013-04-04 Magasin avec un transporteur doté de navettes contrôllées magnétiquement
ES13162282.1T ES2627924T3 (es) 2013-04-04 2013-04-04 Sistema de almacenamiento con un sistema de transporte configurado por carros accionados magnéticamente
US14/780,858 US10035652B2 (en) 2013-04-04 2014-02-27 Storage system having a transport system formed by magnetically driven shuttles
PCT/EP2014/053822 WO2014161695A1 (fr) 2013-04-04 2014-02-27 Système de stockage doté d'un système de transport formé par des navettes à entraînement magnétique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13162282.1A EP2786948B1 (fr) 2013-04-04 2013-04-04 Magasin avec un transporteur doté de navettes contrôllées magnétiquement

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Publication Number Publication Date
EP2786948A1 EP2786948A1 (fr) 2014-10-08
EP2786948B1 true EP2786948B1 (fr) 2017-03-15

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US (1) US10035652B2 (fr)
EP (1) EP2786948B1 (fr)
ES (1) ES2627924T3 (fr)
WO (1) WO2014161695A1 (fr)

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WO2019202572A2 (fr) * 2018-04-19 2019-10-24 Dematic Corp. Fonctionnement en flux continu d'un système de fusion
DE102018114026B4 (de) * 2018-06-12 2020-08-13 Ssi Schäfer Automation Gmbh Zweistufige Kommissionierung mittels Sorter mit hochdynamischen Sorterschalen
CN113247508B (zh) * 2021-05-14 2023-04-18 深圳市海柔创新科技有限公司 机器人避让方法、控制终端及货物自动分拣系统
EP4249409A1 (fr) * 2022-03-24 2023-09-27 KNAPP Systemintegration GmbH Procédé et dispositif permettant de déplacer des marchandises au moyen d'un porte-charge

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Publication number Publication date
EP2786948A1 (fr) 2014-10-08
ES2627924T3 (es) 2017-08-01
US20160052716A1 (en) 2016-02-25
US10035652B2 (en) 2018-07-31
WO2014161695A1 (fr) 2014-10-09

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